Collaborative coverage using a swarm of networked miniature robots

Authors:
Samuel Rutishauser;Nikolaus Correll;Alcherio Martinoli
Affiliations:
Distributed Intelligent Systems and Algorithms Laboratory, ícole Polytechnique Fédérale Lausanne, CH-1015 Lausanne, Switzerland;Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA;Distributed Intelligent Systems and Algorithms Laboratory, ícole Polytechnique Fédérale Lausanne, CH-1015 Lausanne, Switzerland
Venue:
Robotics and Autonomous Systems
Year:
2009

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Abstract

We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realistic and discrete event system (DES) simulation. The realistic simulation is calibrated using sensor and actuator noise characteristics of the real platform and serves for calibration of the DES microscopic model. The proposed algorithm is robust to positional noise and communication loss, and its performance gracefully degrades for communication and localization failures to a lower bound, which is given by the performance of a non-coordinated, randomized solution. Results are validated by real robot experiments with miniature robots of a size smaller than 2 cmx2 cmx3 cm in a boundary coverage case study. Trade-offs between the abilities of the individual platform, required communication, and algorithmic performance are discussed.